Pose ROV
x (m)0.00
@@ -170,12 +178,18 @@
+
+
Affichage
+
+
+
Contrôles
@@ -198,6 +212,198 @@ let trajectory = []; // [[t, x, y, h], ...]
let poseCorrect = [0, 0, 0];
let stats = { records: 0, sweeps: 0, loop_closures: 0, last_t: 0, debit: 0 };
+// Résultats géométrie (murs + métriques)
+let walls = []; // [{x1,y1,x2,y2,length,inliers}, ...]
+let geom = { bboxW: 0, bboxH: 0, area: 0, wallTotal: 0 };
+
+// Mode affichage : 'both' | 'walls' | 'points'
+let viewMode = 'both';
+
+// Throttle recalcul murs
+let lastWallCompute = 0;
+let lastWallPointCount = 0;
+const WALL_RECOMPUTE_MS = 500; // au max toutes les 500 ms
+const WALL_RECOMPUTE_DELTA = 30; // ou dès +30 nouveaux points
+
+// ---------------------------------------------------------------------------
+// Géométrie : extraction de murs (RANSAC de droites) — JS vanilla
+// ---------------------------------------------------------------------------
+// Exposé sur window.MoulinGeom pour pouvoir être testé hors-ligne (Node).
+const MoulinGeom = (function () {
+
+ // RANSAC itératif : extrait des segments de mur depuis un nuage [[x,y],...]
+ function extractWalls(points, opts) {
+ opts = opts || {};
+ const distThresh = opts.distThresh != null ? opts.distThresh : 0.10; // m
+ const maxWalls = opts.maxWalls != null ? opts.maxWalls : 10;
+ const minInliers = opts.minInliers != null ? opts.minInliers : 15;
+ const minLength = opts.minLength != null ? opts.minLength : 0.5; // m
+ const iters = opts.iters != null ? opts.iters : 400;
+ // Un mur doit rassembler une fraction minimale du nuage TOTAL initial,
+ // sinon on s'arrête (évite de "fabriquer" des murs parasites dans le bruit).
+ const minInlierFrac = opts.minInlierFrac != null ? opts.minInlierFrac : 0.035;
+
+ // copie des points encore disponibles
+ let remaining = points.map(p => [p[0], p[1]]);
+ const walls = [];
+
+ // seuil d'inliers : max(absolu, fraction du nuage total)
+ const need = Math.max(minInliers, Math.floor(points.length * minInlierFrac));
+
+ for (let w = 0; w < maxWalls; w++) {
+ if (remaining.length < need) break;
+
+ const best = ransacLine(remaining, distThresh, iters, minInliers);
+ if (!best || best.inlierIdx.length < need) break;
+
+ // Inliers de la meilleure droite
+ const inPts = best.inlierIdx.map(i => remaining[i]);
+
+ // Direction de la droite (normale (nx,ny) → dir = (-ny, nx))
+ const dx = -best.ny, dy = best.nx;
+
+ // Projette les inliers sur la direction, garde min/max → segment
+ let tMin = Infinity, tMax = -Infinity, pMin = null, pMax = null;
+ for (const p of inPts) {
+ const t = p[0] * dx + p[1] * dy;
+ if (t < tMin) { tMin = t; pMin = p; }
+ if (t > tMax) { tMax = t; pMax = p; }
+ }
+ const length = Math.hypot(pMax[0] - pMin[0], pMax[1] - pMin[1]);
+
+ // Retire les inliers du pool restant (avant filtrage longueur,
+ // pour ne pas re-tirer la même droite)
+ const inSet = new Set(best.inlierIdx);
+ remaining = remaining.filter((_, i) => !inSet.has(i));
+
+ if (length < minLength) continue; // segment trop court → ignore
+
+ walls.push({
+ x1: pMin[0], y1: pMin[1],
+ x2: pMax[0], y2: pMax[1],
+ length: length,
+ inliers: inPts.length,
+ });
+ }
+ return walls;
+ }
+
+ // Un tour de RANSAC : meilleure droite (modèle normale (nx,ny), offset c)
+ // distance point-droite = |nx*x + ny*y - c|
+ function ransacLine(pts, distThresh, iters, minInliers) {
+ const n = pts.length;
+ if (n < 2) return null;
+ let best = null;
+
+ for (let it = 0; it < iters; it++) {
+ const i = (Math.random() * n) | 0;
+ let j = (Math.random() * n) | 0;
+ if (i === j) j = (j + 1) % n;
+ const a = pts[i], b = pts[j];
+ let vx = b[0] - a[0], vy = b[1] - a[1];
+ const len = Math.hypot(vx, vy);
+ if (len < 1e-6) continue;
+ vx /= len; vy /= len;
+ // normale unitaire
+ const nx = -vy, ny = vx;
+ const c = nx * a[0] + ny * a[1];
+
+ const inlierIdx = [];
+ for (let k = 0; k < n; k++) {
+ const d = Math.abs(nx * pts[k][0] + ny * pts[k][1] - c);
+ if (d < distThresh) inlierIdx.push(k);
+ }
+ if (inlierIdx.length >= minInliers &&
+ (!best || inlierIdx.length > best.inlierIdx.length)) {
+ best = { nx, ny, c, inlierIdx };
+ }
+ }
+ if (!best) return null;
+
+ // Raffinement : refit total-least-squares sur les inliers (PCA)
+ refitLine(pts, best);
+ return best;
+ }
+
+ // Refit de la droite par PCA sur les inliers, ré-évalue les inliers
+ function refitLine(pts, model) {
+ const idx = model.inlierIdx;
+ let mx = 0, my = 0;
+ for (const i of idx) { mx += pts[i][0]; my += pts[i][1]; }
+ mx /= idx.length; my /= idx.length;
+ let sxx = 0, syy = 0, sxy = 0;
+ for (const i of idx) {
+ const ddx = pts[i][0] - mx, ddy = pts[i][1] - my;
+ sxx += ddx * ddx; syy += ddy * ddy; sxy += ddx * ddy;
+ }
+ // direction principale = vecteur propre de la plus grande valeur propre
+ const theta = 0.5 * Math.atan2(2 * sxy, sxx - syy);
+ const dx = Math.cos(theta), dy = Math.sin(theta);
+ // normale = perpendiculaire à la direction
+ model.nx = -dy; model.ny = dx;
+ model.c = model.nx * mx + model.ny * my;
+ }
+
+ // Aire de l'enveloppe convexe (Andrew monotone chain + shoelace)
+ function convexHullArea(points) {
+ if (points.length < 3) return 0;
+ const pts = points.map(p => [p[0], p[1]]).sort((a, b) =>
+ a[0] === b[0] ? a[1] - b[1] : a[0] - b[0]);
+ const cross = (o, a, b) =>
+ (a[0] - o[0]) * (b[1] - o[1]) - (a[1] - o[1]) * (b[0] - o[0]);
+ const lower = [];
+ for (const p of pts) {
+ while (lower.length >= 2 && cross(lower[lower.length - 2], lower[lower.length - 1], p) <= 0) lower.pop();
+ lower.push(p);
+ }
+ const upper = [];
+ for (let i = pts.length - 1; i >= 0; i--) {
+ const p = pts[i];
+ while (upper.length >= 2 && cross(upper[upper.length - 2], upper[upper.length - 1], p) <= 0) upper.pop();
+ upper.push(p);
+ }
+ const hull = lower.slice(0, -1).concat(upper.slice(0, -1));
+ // shoelace
+ let area2 = 0;
+ for (let i = 0; i < hull.length; i++) {
+ const a = hull[i], b = hull[(i + 1) % hull.length];
+ area2 += a[0] * b[1] - b[0] * a[1];
+ }
+ return Math.abs(area2) / 2;
+ }
+
+ function bbox(points) {
+ let minx = Infinity, maxx = -Infinity, miny = Infinity, maxy = -Infinity;
+ for (const p of points) {
+ if (p[0] < minx) minx = p[0]; if (p[0] > maxx) maxx = p[0];
+ if (p[1] < miny) miny = p[1]; if (p[1] > maxy) maxy = p[1];
+ }
+ return { minx, maxx, miny, maxy, w: maxx - minx, h: maxy - miny };
+ }
+
+ return { extractWalls, convexHullArea, bbox };
+})();
+if (typeof window !== 'undefined') window.MoulinGeom = MoulinGeom;
+if (typeof module !== 'undefined') module.exports = MoulinGeom;
+
+// Recalcule murs + métriques (avec throttle)
+function computeGeometry(force) {
+ const now = (typeof performance !== 'undefined') ? performance.now() : Date.now();
+ const enoughNew = (mapPoints.length - lastWallPointCount) >= WALL_RECOMPUTE_DELTA;
+ if (!force && !(enoughNew && (now - lastWallCompute) >= WALL_RECOMPUTE_MS)) return;
+ if (mapPoints.length < 15) { walls = []; geom = { bboxW: 0, bboxH: 0, area: 0, wallTotal: 0 }; return; }
+
+ lastWallCompute = now;
+ lastWallPointCount = mapPoints.length;
+
+ walls = MoulinGeom.extractWalls(mapPoints);
+ const bb = MoulinGeom.bbox(mapPoints);
+ geom.bboxW = bb.w;
+ geom.bboxH = bb.h;
+ geom.area = MoulinGeom.convexHullArea(mapPoints);
+ geom.wallTotal = walls.reduce((s, w) => s + w.length, 0);
+}
+
// ---------------------------------------------------------------------------
// Canvas + viewport
// ---------------------------------------------------------------------------
@@ -284,14 +490,52 @@ function draw() {
ctx.beginPath(); ctx.moveTo(ox, 0); ctx.lineTo(ox, canvas.height); ctx.stroke();
ctx.beginPath(); ctx.moveTo(0, oy); ctx.lineTo(canvas.width, oy); ctx.stroke();
- // Points carte (murs)
- const ptRadius = Math.max(1, viewScale * 0.04);
- ctx.fillStyle = 'rgba(88, 166, 255, 0.7)';
- for (const [wx, wy] of mapPoints) {
- const [px, py] = worldToCanvas(wx, wy);
- ctx.beginPath();
- ctx.arc(px, py, ptRadius, 0, 2 * Math.PI);
- ctx.fill();
+ // Nuage de points brut (fond léger) — affiché en mode 'points' ou 'both'
+ if (viewMode === 'points' || viewMode === 'both') {
+ // gris clair + petit quand les murs sont aussi visibles, plus net sinon
+ const showWalls = (viewMode === 'both');
+ const ptRadius = showWalls ? Math.max(0.8, viewScale * 0.02)
+ : Math.max(1, viewScale * 0.04);
+ ctx.fillStyle = showWalls ? 'rgba(155, 163, 173, 0.35)'
+ : 'rgba(88, 166, 255, 0.7)';
+ for (const [wx, wy] of mapPoints) {
+ const [px, py] = worldToCanvas(wx, wy);
+ ctx.beginPath();
+ ctx.arc(px, py, ptRadius, 0, 2 * Math.PI);
+ ctx.fill();
+ }
+ }
+
+ // Murs détectés (segments épais + longueur) — mode 'walls' ou 'both'
+ if (viewMode === 'walls' || viewMode === 'both') {
+ ctx.lineCap = 'round';
+ for (const wll of walls) {
+ const [ax, ay] = worldToCanvas(wll.x1, wll.y1);
+ const [bx, by] = worldToCanvas(wll.x2, wll.y2);
+ ctx.strokeStyle = '#1f6feb';
+ ctx.lineWidth = Math.max(3, viewScale * 0.06);
+ ctx.beginPath();
+ ctx.moveTo(ax, ay);
+ ctx.lineTo(bx, by);
+ ctx.stroke();
+ }
+ // Étiquettes longueur au milieu de chaque segment
+ ctx.font = '12px Consolas, monospace';
+ ctx.textAlign = 'center';
+ ctx.textBaseline = 'middle';
+ for (const wll of walls) {
+ const [ax, ay] = worldToCanvas(wll.x1, wll.y1);
+ const [bx, by] = worldToCanvas(wll.x2, wll.y2);
+ const mx = (ax + bx) / 2, my = (ay + by) / 2;
+ const label = wll.length.toFixed(2) + ' m';
+ const tw = ctx.measureText(label).width;
+ ctx.fillStyle = 'rgba(1, 4, 9, 0.75)';
+ ctx.fillRect(mx - tw / 2 - 3, my - 8, tw + 6, 16);
+ ctx.fillStyle = '#79c0ff';
+ ctx.fillText(label, mx, my);
+ }
+ ctx.textAlign = 'start';
+ ctx.textBaseline = 'alphabetic';
}
// Trajectoire
@@ -346,6 +590,16 @@ function updateStats(data) {
document.getElementById('s-debit').textContent = stats.debit.toFixed(1) + ' rec/s';
document.getElementById('s-points').textContent = mapPoints.length;
+ // Géométrie pièce
+ if (geom.bboxW > 0) {
+ document.getElementById('s-bbox').textContent =
+ geom.bboxW.toFixed(1) + ' × ' + geom.bboxH.toFixed(1) + ' m';
+ document.getElementById('s-area').textContent = geom.area.toFixed(1) + ' m²';
+ }
+ document.getElementById('s-walls').textContent = walls.length;
+ document.getElementById('s-wlen').textContent =
+ geom.wallTotal > 0 ? geom.wallTotal.toFixed(1) + ' m' : '—';
+
if (data.pose_corrected) {
poseCorrect = data.pose_corrected;
document.getElementById('s-x').textContent = poseCorrect[0].toFixed(2);
@@ -363,6 +617,7 @@ function handleMessage(data) {
mapPoints = data.map_points || [];
trajectory = data.trajectory || [];
poseCorrect = data.pose_corrected || [0, 0, 0];
+ computeGeometry(true); // recalcul complet sur snapshot
updateStats(data);
draw();
log('Snapshot reçu — ' + mapPoints.length + ' pts, ' + trajectory.length + ' poses', 'ok');
@@ -378,12 +633,16 @@ function handleMessage(data) {
trajectory.push(pose);
}
}
+ computeGeometry(false); // throttlé : recalcul murs en direct
updateStats(data);
draw();
} else if (data.type === 'reset') {
mapPoints = [];
trajectory = [];
poseCorrect = [0, 0, 0];
+ walls = [];
+ geom = { bboxW: 0, bboxH: 0, area: 0, wallTotal: 0 };
+ lastWallPointCount = 0;
stats = { records: 0, sweeps: 0, loop_closures: 0, last_t: 0, debit: 0 };
updateStats({});
draw();
@@ -434,6 +693,17 @@ function wsConnect() {
};
}
+// ---------------------------------------------------------------------------
+// Toggle affichage : Les deux → Murs → Points → …
+// ---------------------------------------------------------------------------
+function cycleViewMode() {
+ const order = { both: 'walls', walls: 'points', points: 'both' };
+ const labels = { both: 'Vue : Les deux', walls: 'Vue : Murs', points: 'Vue : Points' };
+ viewMode = order[viewMode];
+ document.getElementById('view-toggle').textContent = labels[viewMode];
+ draw();
+}
+
// ---------------------------------------------------------------------------
// Reset session
// ---------------------------------------------------------------------------